Nonlinear robust control design for multi unmanned aerial vehicles suspended payload transportation system

Multi UAVs suspended payload transportation system is a new type of aerial transportation. In this paper,a new nonlinear robust control strategy is proposed for the position tracking and attitude control of the payload. To deal with the unknown external disturbances and strong system states coupling,the dynamic model of multi-UAV suspended payload transportation system is established via the Lagrange method. Then,a nonlinear robust control strategy based on robust-integral-signum-error method and geometric control is designed to compensate for the effects of unknown external disturbances,and accurate control of the payload's attitude and position are achieved. Based on the stability analysis of Lyapunov method,the stability of the closed-loop system and the asymptotic convergence of the suspended load tracking error are proved. The simulation results show that the control strategy proposed in this paper can achieve good trajectory tracking performance and has good robustness to unknown external interference. © 2024 Editorial Board of Jilin University. All rights reserved.